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<div class="title">sac_segmentation.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2012, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *   * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> * $Id$</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#ifndef PCL_SEGMENTATION_SAC_SEGMENTATION_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#define PCL_SEGMENTATION_SAC_SEGMENTATION_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_base.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/PointIndices.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/ModelCoefficients.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="comment">// Sample Consensus methods</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#include &lt;pcl/sample_consensus/method_types.h&gt;</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="preprocessor">#include &lt;pcl/sample_consensus/sac.h&gt;</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="comment">// Sample Consensus models</span></div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="preprocessor">#include &lt;pcl/sample_consensus/model_types.h&gt;</span></div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="preprocessor">#include &lt;pcl/sample_consensus/sac_model.h&gt;</span></div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160; </div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;<span class="preprocessor">#include &lt;pcl/search/search.h&gt;</span></div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160; </div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;{</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_a_c_segmentation.html">   65</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_s_a_c_segmentation.html">SACSegmentation</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase</a>&lt;PointT&gt;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  {</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase&lt;PointT&gt;::initCompute</a>;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase&lt;PointT&gt;::deinitCompute</a>;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;     <span class="keyword">public</span>:</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase&lt;PointT&gt;::input_</a>;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase&lt;PointT&gt;::indices_</a>;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloud::Ptr PointCloudPtr;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloud::ConstPtr PointCloudConstPtr;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> pcl::search::Search&lt;PointT&gt;::Ptr SearchPtr;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160; </div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_sample_consensus.html">SampleConsensus&lt;PointT&gt;::Ptr</a> SampleConsensusPtr;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> SampleConsensusModel&lt;PointT&gt;::Ptr SampleConsensusModelPtr;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160; </div>
<div class="line"><a name="l00085"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_a_c_segmentation.html#addeabe3a311db251ef7d0a25879f1f4a">   85</a></span>&#160;      <a class="code" href="classpcl_1_1_s_a_c_segmentation.html#addeabe3a311db251ef7d0a25879f1f4a">SACSegmentation</a> (<span class="keywordtype">bool</span> random = <span class="keyword">false</span>) </div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;        : <a class="code" href="classpcl_1_1_s_a_c_segmentation.html#a196b024d56223dd122e0a1c23773acab">model_</a> ()</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;        , <a class="code" href="classpcl_1_1_s_a_c_segmentation.html#a7e9ad0f4cd31e45c2ff03da17d0c9bce">sac_</a> ()</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;        , <a class="code" href="classpcl_1_1_s_a_c_segmentation.html#a444d6de9dcabbe20ad1a152bea746dab">model_type_</a> (-1)</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;        , <a class="code" href="classpcl_1_1_s_a_c_segmentation.html#af22b2d5e01d6c549b5d7c14caaa28539">method_type_</a> (0)</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;        , <a class="code" href="classpcl_1_1_s_a_c_segmentation.html#af262dd025eb187cfc6cb4e638562735a">threshold_</a> (0)</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;        , <a class="code" href="classpcl_1_1_s_a_c_segmentation.html#abe8902ffbc5fd352e38c08f8b9b3601b">optimize_coefficients_</a> (true)</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;        , <a class="code" href="classpcl_1_1_s_a_c_segmentation.html#a873c817931f20ad93869526584c67e22">radius_min_</a> (-std::numeric_limits&lt;double&gt;::max ())</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;        , radius_max_ (std::numeric_limits&lt;double&gt;::max ())</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;        , <a class="code" href="classpcl_1_1_s_a_c_segmentation.html#acfefedfd77b047203d70b9a73c1cbec8">samples_radius_</a> (0.0)</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;        , <a class="code" href="classpcl_1_1_s_a_c_segmentation.html#a8decd0cf3fa904cd8d2530879a7c726b">samples_radius_search_</a> ()</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;        , <a class="code" href="classpcl_1_1_s_a_c_segmentation.html#ac40b9cd690894f581d507dabbeb89c3c">eps_angle_</a> (0.0)</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;        , <a class="code" href="classpcl_1_1_s_a_c_segmentation.html#abc9924cedf7d0d013f860b8ad3054b69">axis_</a> (Eigen::Vector3f::Zero ())</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;        , <a class="code" href="classpcl_1_1_s_a_c_segmentation.html#af99af32608e22a07bc0d8e0cf92d20fb">max_iterations_</a> (50)</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;        , <a class="code" href="classpcl_1_1_s_a_c_segmentation.html#a29d30627faa3b625702191de4fb3da9b">probability_</a> (0.99)</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;        , <a class="code" href="classpcl_1_1_s_a_c_segmentation.html#a7e4799ad1df36ce3b56a8c592a67bbf2">random_</a> (random)</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;      {</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;      }</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160; </div>
<div class="line"><a name="l00105"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_a_c_segmentation.html#a0a6a501237dea40ae68c62f364e99cdf">  105</a></span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1_s_a_c_segmentation.html#a0a6a501237dea40ae68c62f364e99cdf">~SACSegmentation</a> () { <span class="comment">/*srv_.reset ();*/</span> };</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160; </div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00111"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_a_c_segmentation.html#aaf3488729fa23a602cc0ef2e9480c5f5">  111</a></span>&#160;      <a class="code" href="classpcl_1_1_s_a_c_segmentation.html#aaf3488729fa23a602cc0ef2e9480c5f5">setModelType</a> (<span class="keywordtype">int</span> model) { <a class="code" href="classpcl_1_1_s_a_c_segmentation.html#a444d6de9dcabbe20ad1a152bea746dab">model_type_</a> = model; }</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160; </div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00115"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_a_c_segmentation.html#aa6ca63b1a3068f27ad7c9aeae462dfe2">  115</a></span>&#160;      <a class="code" href="classpcl_1_1_s_a_c_segmentation.html#aa6ca63b1a3068f27ad7c9aeae462dfe2">getModelType</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_s_a_c_segmentation.html#a444d6de9dcabbe20ad1a152bea746dab">model_type_</a>); }</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160; </div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;      <span class="keyword">inline</span> SampleConsensusPtr </div>
<div class="line"><a name="l00119"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_a_c_segmentation.html#a5fde989b5cec51bbec33cb0973186fe2">  119</a></span>&#160;      <a class="code" href="classpcl_1_1_s_a_c_segmentation.html#a5fde989b5cec51bbec33cb0973186fe2">getMethod</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_s_a_c_segmentation.html#a7e9ad0f4cd31e45c2ff03da17d0c9bce">sac_</a>); }</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160; </div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;      <span class="keyword">inline</span> SampleConsensusModelPtr </div>
<div class="line"><a name="l00123"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_a_c_segmentation.html#ac7b9564ceba35754837b4848cf448d78">  123</a></span>&#160;      <a class="code" href="classpcl_1_1_s_a_c_segmentation.html#ac7b9564ceba35754837b4848cf448d78">getModel</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_s_a_c_segmentation.html#a196b024d56223dd122e0a1c23773acab">model_</a>); }</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160; </div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00129"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_a_c_segmentation.html#a1f01af4b5cc22e916c4facc145bc9297">  129</a></span>&#160;      <a class="code" href="classpcl_1_1_s_a_c_segmentation.html#a1f01af4b5cc22e916c4facc145bc9297">setMethodType</a> (<span class="keywordtype">int</span> method) { <a class="code" href="classpcl_1_1_s_a_c_segmentation.html#af22b2d5e01d6c549b5d7c14caaa28539">method_type_</a> = method; }</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160; </div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00133"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_a_c_segmentation.html#a063b9f3f9beebfe252ef206dfa8fb6f5">  133</a></span>&#160;      <a class="code" href="classpcl_1_1_s_a_c_segmentation.html#a063b9f3f9beebfe252ef206dfa8fb6f5">getMethodType</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_s_a_c_segmentation.html#af22b2d5e01d6c549b5d7c14caaa28539">method_type_</a>); }</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160; </div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00139"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_a_c_segmentation.html#ab303bdf338af51e757095fdcdd7dcf5a">  139</a></span>&#160;      <a class="code" href="classpcl_1_1_s_a_c_segmentation.html#ab303bdf338af51e757095fdcdd7dcf5a">setDistanceThreshold</a> (<span class="keywordtype">double</span> threshold) { <a class="code" href="classpcl_1_1_s_a_c_segmentation.html#af262dd025eb187cfc6cb4e638562735a">threshold_</a> = threshold; }</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160; </div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">double</span> </div>
<div class="line"><a name="l00143"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_a_c_segmentation.html#a37153f3267f908eb64719749dd9a5428">  143</a></span>&#160;      <a class="code" href="classpcl_1_1_s_a_c_segmentation.html#a37153f3267f908eb64719749dd9a5428">getDistanceThreshold</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_s_a_c_segmentation.html#af262dd025eb187cfc6cb4e638562735a">threshold_</a>); }</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160; </div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00149"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_a_c_segmentation.html#a47c5241af3824ee197e3a9c1b89806c4">  149</a></span>&#160;      <a class="code" href="classpcl_1_1_s_a_c_segmentation.html#a47c5241af3824ee197e3a9c1b89806c4">setMaxIterations</a> (<span class="keywordtype">int</span> max_iterations) { <a class="code" href="classpcl_1_1_s_a_c_segmentation.html#af99af32608e22a07bc0d8e0cf92d20fb">max_iterations_</a> = max_iterations; }</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160; </div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00153"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_a_c_segmentation.html#adad96aff89dd14bd02ae5790b701e519">  153</a></span>&#160;      <a class="code" href="classpcl_1_1_s_a_c_segmentation.html#adad96aff89dd14bd02ae5790b701e519">getMaxIterations</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_s_a_c_segmentation.html#af99af32608e22a07bc0d8e0cf92d20fb">max_iterations_</a>); }</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160; </div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00159"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_a_c_segmentation.html#a6c436f52078056b626aba0c36b819235">  159</a></span>&#160;      <a class="code" href="classpcl_1_1_s_a_c_segmentation.html#a6c436f52078056b626aba0c36b819235">setProbability</a> (<span class="keywordtype">double</span> probability) { <a class="code" href="classpcl_1_1_s_a_c_segmentation.html#a29d30627faa3b625702191de4fb3da9b">probability_</a> = probability; }</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160; </div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">double</span> </div>
<div class="line"><a name="l00163"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_a_c_segmentation.html#a41f0f4101d35fcffd17923204989fbf0">  163</a></span>&#160;      <a class="code" href="classpcl_1_1_s_a_c_segmentation.html#a41f0f4101d35fcffd17923204989fbf0">getProbability</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_s_a_c_segmentation.html#a29d30627faa3b625702191de4fb3da9b">probability_</a>); }</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160; </div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00169"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_a_c_segmentation.html#acd7cb38442e52a3df81bc0fd28c07646">  169</a></span>&#160;      <a class="code" href="classpcl_1_1_s_a_c_segmentation.html#acd7cb38442e52a3df81bc0fd28c07646">setOptimizeCoefficients</a> (<span class="keywordtype">bool</span> optimize) { <a class="code" href="classpcl_1_1_s_a_c_segmentation.html#abe8902ffbc5fd352e38c08f8b9b3601b">optimize_coefficients_</a> = optimize; }</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160; </div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00173"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_a_c_segmentation.html#a5f2152f5157113171a2d0a077ad17731">  173</a></span>&#160;      <a class="code" href="classpcl_1_1_s_a_c_segmentation.html#a5f2152f5157113171a2d0a077ad17731">getOptimizeCoefficients</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_s_a_c_segmentation.html#abe8902ffbc5fd352e38c08f8b9b3601b">optimize_coefficients_</a>); }</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160; </div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00181"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_a_c_segmentation.html#a18ba57a99fbbcb0f2d0500b0d21579d2">  181</a></span>&#160;      <a class="code" href="classpcl_1_1_s_a_c_segmentation.html#a18ba57a99fbbcb0f2d0500b0d21579d2">setRadiusLimits</a> (<span class="keyword">const</span> <span class="keywordtype">double</span> &amp;min_radius, <span class="keyword">const</span> <span class="keywordtype">double</span> &amp;max_radius)</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;      {</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;        <a class="code" href="classpcl_1_1_s_a_c_segmentation.html#a873c817931f20ad93869526584c67e22">radius_min_</a> = min_radius;</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;        radius_max_ = max_radius;</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;      }</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160; </div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00192"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_a_c_segmentation.html#ae02b4d2a62f5dc94deb71f3412b93916">  192</a></span>&#160;      <a class="code" href="classpcl_1_1_s_a_c_segmentation.html#ae02b4d2a62f5dc94deb71f3412b93916">getRadiusLimits</a> (<span class="keywordtype">double</span> &amp;min_radius, <span class="keywordtype">double</span> &amp;max_radius)</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;      {</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;        min_radius = <a class="code" href="classpcl_1_1_s_a_c_segmentation.html#a873c817931f20ad93869526584c67e22">radius_min_</a>;</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;        max_radius = radius_max_;</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;      }</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160; </div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00203"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_a_c_segmentation.html#ac8a399afca15a3e2dcbf491a8de3e2f1">  203</a></span>&#160;      <a class="code" href="classpcl_1_1_s_a_c_segmentation.html#ac8a399afca15a3e2dcbf491a8de3e2f1">setSamplesMaxDist</a> (<span class="keyword">const</span> <span class="keywordtype">double</span> &amp;radius, SearchPtr search)</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;      {</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;        <a class="code" href="classpcl_1_1_s_a_c_segmentation.html#acfefedfd77b047203d70b9a73c1cbec8">samples_radius_</a> = radius;</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;        <a class="code" href="classpcl_1_1_s_a_c_segmentation.html#a8decd0cf3fa904cd8d2530879a7c726b">samples_radius_search_</a> = search;</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;      }</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160; </div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00214"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_a_c_segmentation.html#a968404675723ac44d5cb8fca689fd620">  214</a></span>&#160;      <a class="code" href="classpcl_1_1_s_a_c_segmentation.html#a968404675723ac44d5cb8fca689fd620">getSamplesMaxDist</a> (<span class="keywordtype">double</span> &amp;radius)</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;      {</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;        radius = <a class="code" href="classpcl_1_1_s_a_c_segmentation.html#acfefedfd77b047203d70b9a73c1cbec8">samples_radius_</a>;</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;      }</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160; </div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00223"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_a_c_segmentation.html#a23abc3e522ccb2b2846a6c9b0cf7b7d3">  223</a></span>&#160;      <a class="code" href="classpcl_1_1_s_a_c_segmentation.html#a23abc3e522ccb2b2846a6c9b0cf7b7d3">setAxis</a> (<span class="keyword">const</span> Eigen::Vector3f &amp;ax) { <a class="code" href="classpcl_1_1_s_a_c_segmentation.html#abc9924cedf7d0d013f860b8ad3054b69">axis_</a> = ax; }</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160; </div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;      <span class="keyword">inline</span> Eigen::Vector3f </div>
<div class="line"><a name="l00227"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_a_c_segmentation.html#af521155221e948e151b726cd76495fd0">  227</a></span>&#160;      <a class="code" href="classpcl_1_1_s_a_c_segmentation.html#af521155221e948e151b726cd76495fd0">getAxis</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_s_a_c_segmentation.html#abc9924cedf7d0d013f860b8ad3054b69">axis_</a>); }</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160; </div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00233"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_a_c_segmentation.html#a7a2dc31039a1717f83ca281f6970eb18">  233</a></span>&#160;      <a class="code" href="classpcl_1_1_s_a_c_segmentation.html#a7a2dc31039a1717f83ca281f6970eb18">setEpsAngle</a> (<span class="keywordtype">double</span> ea) { <a class="code" href="classpcl_1_1_s_a_c_segmentation.html#ac40b9cd690894f581d507dabbeb89c3c">eps_angle_</a> = ea; }</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160; </div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">double</span> </div>
<div class="line"><a name="l00237"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_a_c_segmentation.html#a93f67b554b55b3f10170065713263910">  237</a></span>&#160;      <a class="code" href="classpcl_1_1_s_a_c_segmentation.html#a93f67b554b55b3f10170065713263910">getEpsAngle</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_s_a_c_segmentation.html#ac40b9cd690894f581d507dabbeb89c3c">eps_angle_</a>); }</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160; </div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;      <a class="code" href="classpcl_1_1_s_a_c_segmentation.html#a514043477fc0efc79aaae0b595cc566c">segment</a> (<a class="code" href="structpcl_1_1_point_indices.html">PointIndices</a> &amp;inliers, <a class="code" href="structpcl_1_1_model_coefficients.html">ModelCoefficients</a> &amp;model_coefficients);</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160; </div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;      <a class="code" href="classpcl_1_1_s_a_c_segmentation.html#a73f671838c3ec8c0f08a3c78a7cac80b">initSACModel</a> (<span class="keyword">const</span> <span class="keywordtype">int</span> model_type);</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160; </div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;      <a class="code" href="classpcl_1_1_s_a_c_segmentation.html#a2524fe5506c0c43c425dbe492da133ed">initSAC</a> (<span class="keyword">const</span> <span class="keywordtype">int</span> method_type);</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160; </div>
<div class="line"><a name="l00260"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_a_c_segmentation.html#a196b024d56223dd122e0a1c23773acab">  260</a></span>&#160;      SampleConsensusModelPtr <a class="code" href="classpcl_1_1_s_a_c_segmentation.html#a196b024d56223dd122e0a1c23773acab">model_</a>;</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160; </div>
<div class="line"><a name="l00263"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_a_c_segmentation.html#a7e9ad0f4cd31e45c2ff03da17d0c9bce">  263</a></span>&#160;      SampleConsensusPtr <a class="code" href="classpcl_1_1_s_a_c_segmentation.html#a7e9ad0f4cd31e45c2ff03da17d0c9bce">sac_</a>;</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160; </div>
<div class="line"><a name="l00266"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_a_c_segmentation.html#a444d6de9dcabbe20ad1a152bea746dab">  266</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_s_a_c_segmentation.html#a444d6de9dcabbe20ad1a152bea746dab">model_type_</a>;</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160; </div>
<div class="line"><a name="l00269"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_a_c_segmentation.html#af22b2d5e01d6c549b5d7c14caaa28539">  269</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_s_a_c_segmentation.html#af22b2d5e01d6c549b5d7c14caaa28539">method_type_</a>;</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160; </div>
<div class="line"><a name="l00272"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_a_c_segmentation.html#af262dd025eb187cfc6cb4e638562735a">  272</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_s_a_c_segmentation.html#af262dd025eb187cfc6cb4e638562735a">threshold_</a>;</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160; </div>
<div class="line"><a name="l00275"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_a_c_segmentation.html#abe8902ffbc5fd352e38c08f8b9b3601b">  275</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_s_a_c_segmentation.html#abe8902ffbc5fd352e38c08f8b9b3601b">optimize_coefficients_</a>;</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160; </div>
<div class="line"><a name="l00278"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_a_c_segmentation.html#a873c817931f20ad93869526584c67e22">  278</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_s_a_c_segmentation.html#a873c817931f20ad93869526584c67e22">radius_min_</a>, radius_max_;</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160; </div>
<div class="line"><a name="l00281"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_a_c_segmentation.html#acfefedfd77b047203d70b9a73c1cbec8">  281</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_s_a_c_segmentation.html#acfefedfd77b047203d70b9a73c1cbec8">samples_radius_</a>;</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160; </div>
<div class="line"><a name="l00284"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_a_c_segmentation.html#a8decd0cf3fa904cd8d2530879a7c726b">  284</a></span>&#160;      SearchPtr <a class="code" href="classpcl_1_1_s_a_c_segmentation.html#a8decd0cf3fa904cd8d2530879a7c726b">samples_radius_search_</a>;</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160; </div>
<div class="line"><a name="l00287"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_a_c_segmentation.html#ac40b9cd690894f581d507dabbeb89c3c">  287</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_s_a_c_segmentation.html#ac40b9cd690894f581d507dabbeb89c3c">eps_angle_</a>;</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160; </div>
<div class="line"><a name="l00290"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_a_c_segmentation.html#abc9924cedf7d0d013f860b8ad3054b69">  290</a></span>&#160;      Eigen::Vector3f <a class="code" href="classpcl_1_1_s_a_c_segmentation.html#abc9924cedf7d0d013f860b8ad3054b69">axis_</a>;</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160; </div>
<div class="line"><a name="l00293"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_a_c_segmentation.html#af99af32608e22a07bc0d8e0cf92d20fb">  293</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_s_a_c_segmentation.html#af99af32608e22a07bc0d8e0cf92d20fb">max_iterations_</a>;</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160; </div>
<div class="line"><a name="l00296"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_a_c_segmentation.html#a29d30627faa3b625702191de4fb3da9b">  296</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_s_a_c_segmentation.html#a29d30627faa3b625702191de4fb3da9b">probability_</a>;</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160; </div>
<div class="line"><a name="l00299"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_a_c_segmentation.html#a7e4799ad1df36ce3b56a8c592a67bbf2">  299</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_s_a_c_segmentation.html#a7e4799ad1df36ce3b56a8c592a67bbf2">random_</a>;</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160; </div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;      <span class="keyword">virtual</span> std::string </div>
<div class="line"><a name="l00303"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_a_c_segmentation.html#a87f8b0013e358f2bffa6c44149bc2e66">  303</a></span>&#160;      <a class="code" href="classpcl_1_1_s_a_c_segmentation.html#a87f8b0013e358f2bffa6c44149bc2e66">getClassName</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<span class="stringliteral">&quot;SACSegmentation&quot;</span>); }</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;  };</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160; </div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT&gt;</div>
<div class="line"><a name="l00311"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_a_c_segmentation_from_normals.html">  311</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_s_a_c_segmentation_from_normals.html">SACSegmentationFromNormals</a>: <span class="keyword">public</span> <a class="code" href="classpcl_1_1_s_a_c_segmentation.html">SACSegmentation</a>&lt;PointT&gt;</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;  {</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;    <span class="keyword">using</span> <a class="code" href="classpcl_1_1_s_a_c_segmentation.html">SACSegmentation&lt;PointT&gt;::model_</a>;</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;    <span class="keyword">using</span> <a class="code" href="classpcl_1_1_s_a_c_segmentation.html">SACSegmentation&lt;PointT&gt;::model_type_</a>;</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;    <span class="keyword">using</span> <a class="code" href="classpcl_1_1_s_a_c_segmentation.html">SACSegmentation&lt;PointT&gt;::radius_min_</a>;</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;    <span class="keyword">using</span> <a class="code" href="classpcl_1_1_s_a_c_segmentation.html">SACSegmentation&lt;PointT&gt;::radius_max_</a>;</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;    <span class="keyword">using</span> <a class="code" href="classpcl_1_1_s_a_c_segmentation.html">SACSegmentation&lt;PointT&gt;::eps_angle_</a>;</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;    <span class="keyword">using</span> <a class="code" href="classpcl_1_1_s_a_c_segmentation.html">SACSegmentation&lt;PointT&gt;::axis_</a>;</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;    <span class="keyword">using</span> <a class="code" href="classpcl_1_1_s_a_c_segmentation.html">SACSegmentation&lt;PointT&gt;::random_</a>;</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160; </div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase&lt;PointT&gt;::input_</a>;</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase&lt;PointT&gt;::indices_</a>;</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160; </div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">SACSegmentation&lt;PointT&gt;::PointCloud</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>;</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloud::Ptr PointCloudPtr;</div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloud::ConstPtr PointCloudConstPtr;</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160; </div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointNT&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudN</a>;</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudN::Ptr PointCloudNPtr;</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudN::ConstPtr PointCloudNConstPtr;</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160; </div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_sample_consensus.html">SampleConsensus&lt;PointT&gt;::Ptr</a> SampleConsensusPtr;</div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> SampleConsensusModel&lt;PointT&gt;::Ptr SampleConsensusModelPtr;</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> SampleConsensusModelFromNormals&lt;PointT, PointNT&gt;::Ptr SampleConsensusModelFromNormalsPtr;</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160; </div>
<div class="line"><a name="l00340"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_a_c_segmentation_from_normals.html#a6c3a8db014d9ebb9388886888e7389db">  340</a></span>&#160;      <a class="code" href="classpcl_1_1_s_a_c_segmentation_from_normals.html#a6c3a8db014d9ebb9388886888e7389db">SACSegmentationFromNormals</a> (<span class="keywordtype">bool</span> random = <span class="keyword">false</span>) </div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;        : <a class="code" href="classpcl_1_1_s_a_c_segmentation.html">SACSegmentation</a>&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&gt; (random)</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;        , <a class="code" href="classpcl_1_1_s_a_c_segmentation_from_normals.html#a91b5f388af6d3b9c588f38fcb7a4e4be">normals_</a> ()</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;        , <a class="code" href="classpcl_1_1_s_a_c_segmentation_from_normals.html#a032a4b4f08619842f7f1c5602b22d9e4">distance_weight_</a> (0.1)</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;        , <a class="code" href="classpcl_1_1_s_a_c_segmentation_from_normals.html#a9757daa415a631f7d4ad088624f4491e">distance_from_origin_</a> (0)</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;        , <a class="code" href="classpcl_1_1_s_a_c_segmentation_from_normals.html#a3cd9814bbc521a5f116a1f58cb3cc3d1">min_angle_</a> ()</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;        , max_angle_ ()</div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;      {};</div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160; </div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00354"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_a_c_segmentation_from_normals.html#a32a65052303a8ccc167c0182ab261df6">  354</a></span>&#160;      <a class="code" href="classpcl_1_1_s_a_c_segmentation_from_normals.html#a32a65052303a8ccc167c0182ab261df6">setInputNormals</a> (<span class="keyword">const</span> PointCloudNConstPtr &amp;normals) { <a class="code" href="classpcl_1_1_s_a_c_segmentation_from_normals.html#a91b5f388af6d3b9c588f38fcb7a4e4be">normals_</a> = normals; }</div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160; </div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;      <span class="keyword">inline</span> PointCloudNConstPtr </div>
<div class="line"><a name="l00358"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_a_c_segmentation_from_normals.html#a3cef158b2aec9d1232eb5e0528d2ec91">  358</a></span>&#160;      <a class="code" href="classpcl_1_1_s_a_c_segmentation_from_normals.html#a3cef158b2aec9d1232eb5e0528d2ec91">getInputNormals</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_s_a_c_segmentation_from_normals.html#a91b5f388af6d3b9c588f38fcb7a4e4be">normals_</a>); }</div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160; </div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00365"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_a_c_segmentation_from_normals.html#adffe38382fbb0b511764faf9490140ca">  365</a></span>&#160;      <a class="code" href="classpcl_1_1_s_a_c_segmentation_from_normals.html#adffe38382fbb0b511764faf9490140ca">setNormalDistanceWeight</a> (<span class="keywordtype">double</span> distance_weight) { <a class="code" href="classpcl_1_1_s_a_c_segmentation_from_normals.html#a032a4b4f08619842f7f1c5602b22d9e4">distance_weight_</a> = distance_weight; }</div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160; </div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">double</span> </div>
<div class="line"><a name="l00370"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_a_c_segmentation_from_normals.html#adedec2e769f2f8f126d2ce1bf7fd62e4">  370</a></span>&#160;      <a class="code" href="classpcl_1_1_s_a_c_segmentation_from_normals.html#adedec2e769f2f8f126d2ce1bf7fd62e4">getNormalDistanceWeight</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_s_a_c_segmentation_from_normals.html#a032a4b4f08619842f7f1c5602b22d9e4">distance_weight_</a>); }</div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160; </div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00377"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_a_c_segmentation_from_normals.html#a902493eecbbfefce45767a98832d02c6">  377</a></span>&#160;      <a class="code" href="classpcl_1_1_s_a_c_segmentation_from_normals.html#a902493eecbbfefce45767a98832d02c6">setMinMaxOpeningAngle</a> (<span class="keyword">const</span> <span class="keywordtype">double</span> &amp;min_angle, <span class="keyword">const</span> <span class="keywordtype">double</span> &amp;max_angle)</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;      {</div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;        <a class="code" href="classpcl_1_1_s_a_c_segmentation_from_normals.html#a3cd9814bbc521a5f116a1f58cb3cc3d1">min_angle_</a> = min_angle;</div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;        max_angle_ = max_angle;</div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;      }</div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160; </div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00385"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_a_c_segmentation_from_normals.html#a5937ab0420b105b8c17918a9c19f4a1d">  385</a></span>&#160;      <a class="code" href="classpcl_1_1_s_a_c_segmentation_from_normals.html#a5937ab0420b105b8c17918a9c19f4a1d">getMinMaxOpeningAngle</a> (<span class="keywordtype">double</span> &amp;min_angle, <span class="keywordtype">double</span> &amp;max_angle)</div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;      {</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;        min_angle = <a class="code" href="classpcl_1_1_s_a_c_segmentation_from_normals.html#a3cd9814bbc521a5f116a1f58cb3cc3d1">min_angle_</a>;</div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;        max_angle = max_angle_;</div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;      }</div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160; </div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00395"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_a_c_segmentation_from_normals.html#aa6e65931b38d3cfa32afc34b60f896c8">  395</a></span>&#160;      <a class="code" href="classpcl_1_1_s_a_c_segmentation_from_normals.html#aa6e65931b38d3cfa32afc34b60f896c8">setDistanceFromOrigin</a> (<span class="keyword">const</span> <span class="keywordtype">double</span> d) { <a class="code" href="classpcl_1_1_s_a_c_segmentation_from_normals.html#a9757daa415a631f7d4ad088624f4491e">distance_from_origin_</a> = d; }</div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160; </div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00399"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_a_c_segmentation_from_normals.html#ab5b41e1d4b62faf0f09fd3e36920c08c">  399</a></span>&#160;      <a class="code" href="classpcl_1_1_s_a_c_segmentation_from_normals.html#ab5b41e1d4b62faf0f09fd3e36920c08c">getDistanceFromOrigin</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_s_a_c_segmentation_from_normals.html#a9757daa415a631f7d4ad088624f4491e">distance_from_origin_</a>); }</div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160; </div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00403"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_a_c_segmentation_from_normals.html#a91b5f388af6d3b9c588f38fcb7a4e4be">  403</a></span>&#160;      PointCloudNConstPtr <a class="code" href="classpcl_1_1_s_a_c_segmentation_from_normals.html#a91b5f388af6d3b9c588f38fcb7a4e4be">normals_</a>;</div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160; </div>
<div class="line"><a name="l00408"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_a_c_segmentation_from_normals.html#a032a4b4f08619842f7f1c5602b22d9e4">  408</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_s_a_c_segmentation_from_normals.html#a032a4b4f08619842f7f1c5602b22d9e4">distance_weight_</a>;</div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160; </div>
<div class="line"><a name="l00411"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_a_c_segmentation_from_normals.html#a9757daa415a631f7d4ad088624f4491e">  411</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_s_a_c_segmentation_from_normals.html#a9757daa415a631f7d4ad088624f4491e">distance_from_origin_</a>;</div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160; </div>
<div class="line"><a name="l00414"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_a_c_segmentation_from_normals.html#a3cd9814bbc521a5f116a1f58cb3cc3d1">  414</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_s_a_c_segmentation_from_normals.html#a3cd9814bbc521a5f116a1f58cb3cc3d1">min_angle_</a>;</div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;      <span class="keywordtype">double</span> max_angle_;</div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160; </div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;      <a class="code" href="classpcl_1_1_s_a_c_segmentation_from_normals.html#ac4d61a5778c41a40192d2e44729502a8">initSACModel</a> (<span class="keyword">const</span> <span class="keywordtype">int</span> model_type);</div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160; </div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;      <span class="keyword">virtual</span> std::string </div>
<div class="line"><a name="l00425"></a><span class="lineno"><a class="line" href="classpcl_1_1_s_a_c_segmentation_from_normals.html#a738ce9fb8455174564441597edcd0b9e">  425</a></span>&#160;      <a class="code" href="classpcl_1_1_s_a_c_segmentation_from_normals.html#a738ce9fb8455174564441597edcd0b9e">getClassName</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<span class="stringliteral">&quot;SACSegmentationFromNormals&quot;</span>); }</div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;  };</div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;}</div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160; </div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;<span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;<span class="preprocessor">#include &lt;pcl/segmentation/impl/sac_segmentation.hpp&gt;</span></div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160; </div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">//#ifndef PCL_SEGMENTATION_SAC_SEGMENTATION_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase</a></div><div class="ttdoc">PCL base class. Implements methods that are used by most PCL algorithms.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:69</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_s_a_c_segmentation_from_normals_html"><div class="ttname"><a href="classpcl_1_1_s_a_c_segmentation_from_normals.html">pcl::SACSegmentationFromNormals</a></div><div class="ttdoc">SACSegmentationFromNormals represents the PCL nodelet segmentation class for Sample Consensus methods...</div><div class="ttdef"><b>Definition:</b> sac_segmentation.h:312</div></div>
<div class="ttc" id="aclasspcl_1_1_s_a_c_segmentation_from_normals_html_a032a4b4f08619842f7f1c5602b22d9e4"><div class="ttname"><a href="classpcl_1_1_s_a_c_segmentation_from_normals.html#a032a4b4f08619842f7f1c5602b22d9e4">pcl::SACSegmentationFromNormals::distance_weight_</a></div><div class="ttdeci">double distance_weight_</div><div class="ttdoc">The relative weight (between 0 and 1) to give to the angular distance (0 to pi/2) between point norma...</div><div class="ttdef"><b>Definition:</b> sac_segmentation.h:408</div></div>
<div class="ttc" id="aclasspcl_1_1_s_a_c_segmentation_from_normals_html_a32a65052303a8ccc167c0182ab261df6"><div class="ttname"><a href="classpcl_1_1_s_a_c_segmentation_from_normals.html#a32a65052303a8ccc167c0182ab261df6">pcl::SACSegmentationFromNormals::setInputNormals</a></div><div class="ttdeci">void setInputNormals(const PointCloudNConstPtr &amp;normals)</div><div class="ttdoc">Provide a pointer to the input dataset that contains the point normals of the XYZ dataset.</div><div class="ttdef"><b>Definition:</b> sac_segmentation.h:354</div></div>
<div class="ttc" id="aclasspcl_1_1_s_a_c_segmentation_from_normals_html_a3cd9814bbc521a5f116a1f58cb3cc3d1"><div class="ttname"><a href="classpcl_1_1_s_a_c_segmentation_from_normals.html#a3cd9814bbc521a5f116a1f58cb3cc3d1">pcl::SACSegmentationFromNormals::min_angle_</a></div><div class="ttdeci">double min_angle_</div><div class="ttdoc">The minimum and maximum allowed opening angle of valid cone model.</div><div class="ttdef"><b>Definition:</b> sac_segmentation.h:414</div></div>
<div class="ttc" id="aclasspcl_1_1_s_a_c_segmentation_from_normals_html_a3cef158b2aec9d1232eb5e0528d2ec91"><div class="ttname"><a href="classpcl_1_1_s_a_c_segmentation_from_normals.html#a3cef158b2aec9d1232eb5e0528d2ec91">pcl::SACSegmentationFromNormals::getInputNormals</a></div><div class="ttdeci">PointCloudNConstPtr getInputNormals() const</div><div class="ttdoc">Get a pointer to the normals of the input XYZ point cloud dataset.</div><div class="ttdef"><b>Definition:</b> sac_segmentation.h:358</div></div>
<div class="ttc" id="aclasspcl_1_1_s_a_c_segmentation_from_normals_html_a5937ab0420b105b8c17918a9c19f4a1d"><div class="ttname"><a href="classpcl_1_1_s_a_c_segmentation_from_normals.html#a5937ab0420b105b8c17918a9c19f4a1d">pcl::SACSegmentationFromNormals::getMinMaxOpeningAngle</a></div><div class="ttdeci">void getMinMaxOpeningAngle(double &amp;min_angle, double &amp;max_angle)</div><div class="ttdoc">Get the opening angle which we need minumum to validate a cone model.</div><div class="ttdef"><b>Definition:</b> sac_segmentation.h:385</div></div>
<div class="ttc" id="aclasspcl_1_1_s_a_c_segmentation_from_normals_html_a6c3a8db014d9ebb9388886888e7389db"><div class="ttname"><a href="classpcl_1_1_s_a_c_segmentation_from_normals.html#a6c3a8db014d9ebb9388886888e7389db">pcl::SACSegmentationFromNormals::SACSegmentationFromNormals</a></div><div class="ttdeci">SACSegmentationFromNormals(bool random=false)</div><div class="ttdoc">Empty constructor.</div><div class="ttdef"><b>Definition:</b> sac_segmentation.h:340</div></div>
<div class="ttc" id="aclasspcl_1_1_s_a_c_segmentation_from_normals_html_a738ce9fb8455174564441597edcd0b9e"><div class="ttname"><a href="classpcl_1_1_s_a_c_segmentation_from_normals.html#a738ce9fb8455174564441597edcd0b9e">pcl::SACSegmentationFromNormals::getClassName</a></div><div class="ttdeci">virtual std::string getClassName() const</div><div class="ttdoc">Class get name method.</div><div class="ttdef"><b>Definition:</b> sac_segmentation.h:425</div></div>
<div class="ttc" id="aclasspcl_1_1_s_a_c_segmentation_from_normals_html_a902493eecbbfefce45767a98832d02c6"><div class="ttname"><a href="classpcl_1_1_s_a_c_segmentation_from_normals.html#a902493eecbbfefce45767a98832d02c6">pcl::SACSegmentationFromNormals::setMinMaxOpeningAngle</a></div><div class="ttdeci">void setMinMaxOpeningAngle(const double &amp;min_angle, const double &amp;max_angle)</div><div class="ttdoc">Set the minimum opning angle for a cone model.</div><div class="ttdef"><b>Definition:</b> sac_segmentation.h:377</div></div>
<div class="ttc" id="aclasspcl_1_1_s_a_c_segmentation_from_normals_html_a91b5f388af6d3b9c588f38fcb7a4e4be"><div class="ttname"><a href="classpcl_1_1_s_a_c_segmentation_from_normals.html#a91b5f388af6d3b9c588f38fcb7a4e4be">pcl::SACSegmentationFromNormals::normals_</a></div><div class="ttdeci">PointCloudNConstPtr normals_</div><div class="ttdoc">A pointer to the input dataset that contains the point normals of the XYZ dataset.</div><div class="ttdef"><b>Definition:</b> sac_segmentation.h:403</div></div>
<div class="ttc" id="aclasspcl_1_1_s_a_c_segmentation_from_normals_html_a9757daa415a631f7d4ad088624f4491e"><div class="ttname"><a href="classpcl_1_1_s_a_c_segmentation_from_normals.html#a9757daa415a631f7d4ad088624f4491e">pcl::SACSegmentationFromNormals::distance_from_origin_</a></div><div class="ttdeci">double distance_from_origin_</div><div class="ttdoc">The distance from the template plane to the origin.</div><div class="ttdef"><b>Definition:</b> sac_segmentation.h:411</div></div>
<div class="ttc" id="aclasspcl_1_1_s_a_c_segmentation_from_normals_html_aa6e65931b38d3cfa32afc34b60f896c8"><div class="ttname"><a href="classpcl_1_1_s_a_c_segmentation_from_normals.html#aa6e65931b38d3cfa32afc34b60f896c8">pcl::SACSegmentationFromNormals::setDistanceFromOrigin</a></div><div class="ttdeci">void setDistanceFromOrigin(const double d)</div><div class="ttdoc">Set the distance we expect a plane model to be from the origin</div><div class="ttdef"><b>Definition:</b> sac_segmentation.h:395</div></div>
<div class="ttc" id="aclasspcl_1_1_s_a_c_segmentation_from_normals_html_ab5b41e1d4b62faf0f09fd3e36920c08c"><div class="ttname"><a href="classpcl_1_1_s_a_c_segmentation_from_normals.html#ab5b41e1d4b62faf0f09fd3e36920c08c">pcl::SACSegmentationFromNormals::getDistanceFromOrigin</a></div><div class="ttdeci">double getDistanceFromOrigin() const</div><div class="ttdoc">Get the distance of a plane model from the origin.</div><div class="ttdef"><b>Definition:</b> sac_segmentation.h:399</div></div>
<div class="ttc" id="aclasspcl_1_1_s_a_c_segmentation_from_normals_html_ac4d61a5778c41a40192d2e44729502a8"><div class="ttname"><a href="classpcl_1_1_s_a_c_segmentation_from_normals.html#ac4d61a5778c41a40192d2e44729502a8">pcl::SACSegmentationFromNormals::initSACModel</a></div><div class="ttdeci">virtual bool initSACModel(const int model_type)</div><div class="ttdoc">Initialize the Sample Consensus model and set its parameters.</div><div class="ttdef"><b>Definition:</b> sac_segmentation.hpp:342</div></div>
<div class="ttc" id="aclasspcl_1_1_s_a_c_segmentation_from_normals_html_adedec2e769f2f8f126d2ce1bf7fd62e4"><div class="ttname"><a href="classpcl_1_1_s_a_c_segmentation_from_normals.html#adedec2e769f2f8f126d2ce1bf7fd62e4">pcl::SACSegmentationFromNormals::getNormalDistanceWeight</a></div><div class="ttdeci">double getNormalDistanceWeight() const</div><div class="ttdoc">Get the relative weight (between 0 and 1) to give to the angular distance (0 to pi/2) between point n...</div><div class="ttdef"><b>Definition:</b> sac_segmentation.h:370</div></div>
<div class="ttc" id="aclasspcl_1_1_s_a_c_segmentation_from_normals_html_adffe38382fbb0b511764faf9490140ca"><div class="ttname"><a href="classpcl_1_1_s_a_c_segmentation_from_normals.html#adffe38382fbb0b511764faf9490140ca">pcl::SACSegmentationFromNormals::setNormalDistanceWeight</a></div><div class="ttdeci">void setNormalDistanceWeight(double distance_weight)</div><div class="ttdoc">Set the relative weight (between 0 and 1) to give to the angular distance (0 to pi/2) between point n...</div><div class="ttdef"><b>Definition:</b> sac_segmentation.h:365</div></div>
<div class="ttc" id="aclasspcl_1_1_s_a_c_segmentation_html"><div class="ttname"><a href="classpcl_1_1_s_a_c_segmentation.html">pcl::SACSegmentation</a></div><div class="ttdoc">SACSegmentation represents the Nodelet segmentation class for Sample Consensus methods and models,...</div><div class="ttdef"><b>Definition:</b> sac_segmentation.h:66</div></div>
<div class="ttc" id="aclasspcl_1_1_s_a_c_segmentation_html_a063b9f3f9beebfe252ef206dfa8fb6f5"><div class="ttname"><a href="classpcl_1_1_s_a_c_segmentation.html#a063b9f3f9beebfe252ef206dfa8fb6f5">pcl::SACSegmentation::getMethodType</a></div><div class="ttdeci">int getMethodType() const</div><div class="ttdoc">Get the type of sample consensus method used.</div><div class="ttdef"><b>Definition:</b> sac_segmentation.h:133</div></div>
<div class="ttc" id="aclasspcl_1_1_s_a_c_segmentation_html_a0a6a501237dea40ae68c62f364e99cdf"><div class="ttname"><a href="classpcl_1_1_s_a_c_segmentation.html#a0a6a501237dea40ae68c62f364e99cdf">pcl::SACSegmentation::~SACSegmentation</a></div><div class="ttdeci">virtual ~SACSegmentation()</div><div class="ttdoc">Empty destructor.</div><div class="ttdef"><b>Definition:</b> sac_segmentation.h:105</div></div>
<div class="ttc" id="aclasspcl_1_1_s_a_c_segmentation_html_a18ba57a99fbbcb0f2d0500b0d21579d2"><div class="ttname"><a href="classpcl_1_1_s_a_c_segmentation.html#a18ba57a99fbbcb0f2d0500b0d21579d2">pcl::SACSegmentation::setRadiusLimits</a></div><div class="ttdeci">void setRadiusLimits(const double &amp;min_radius, const double &amp;max_radius)</div><div class="ttdoc">Set the minimum and maximum allowable radius limits for the model (applicable to models that estimate...</div><div class="ttdef"><b>Definition:</b> sac_segmentation.h:181</div></div>
<div class="ttc" id="aclasspcl_1_1_s_a_c_segmentation_html_a196b024d56223dd122e0a1c23773acab"><div class="ttname"><a href="classpcl_1_1_s_a_c_segmentation.html#a196b024d56223dd122e0a1c23773acab">pcl::SACSegmentation::model_</a></div><div class="ttdeci">SampleConsensusModelPtr model_</div><div class="ttdoc">The model that needs to be segmented.</div><div class="ttdef"><b>Definition:</b> sac_segmentation.h:260</div></div>
<div class="ttc" id="aclasspcl_1_1_s_a_c_segmentation_html_a1f01af4b5cc22e916c4facc145bc9297"><div class="ttname"><a href="classpcl_1_1_s_a_c_segmentation.html#a1f01af4b5cc22e916c4facc145bc9297">pcl::SACSegmentation::setMethodType</a></div><div class="ttdeci">void setMethodType(int method)</div><div class="ttdoc">The type of sample consensus method to use (user given parameter).</div><div class="ttdef"><b>Definition:</b> sac_segmentation.h:129</div></div>
<div class="ttc" id="aclasspcl_1_1_s_a_c_segmentation_html_a23abc3e522ccb2b2846a6c9b0cf7b7d3"><div class="ttname"><a href="classpcl_1_1_s_a_c_segmentation.html#a23abc3e522ccb2b2846a6c9b0cf7b7d3">pcl::SACSegmentation::setAxis</a></div><div class="ttdeci">void setAxis(const Eigen::Vector3f &amp;ax)</div><div class="ttdoc">Set the axis along which we need to search for a model perpendicular to.</div><div class="ttdef"><b>Definition:</b> sac_segmentation.h:223</div></div>
<div class="ttc" id="aclasspcl_1_1_s_a_c_segmentation_html_a2524fe5506c0c43c425dbe492da133ed"><div class="ttname"><a href="classpcl_1_1_s_a_c_segmentation.html#a2524fe5506c0c43c425dbe492da133ed">pcl::SACSegmentation::initSAC</a></div><div class="ttdeci">virtual void initSAC(const int method_type)</div><div class="ttdoc">Initialize the Sample Consensus method and set its parameters.</div><div class="ttdef"><b>Definition:</b> sac_segmentation.hpp:270</div></div>
<div class="ttc" id="aclasspcl_1_1_s_a_c_segmentation_html_a29d30627faa3b625702191de4fb3da9b"><div class="ttname"><a href="classpcl_1_1_s_a_c_segmentation.html#a29d30627faa3b625702191de4fb3da9b">pcl::SACSegmentation::probability_</a></div><div class="ttdeci">double probability_</div><div class="ttdoc">Desired probability of choosing at least one sample free from outliers (user given parameter).</div><div class="ttdef"><b>Definition:</b> sac_segmentation.h:296</div></div>
<div class="ttc" id="aclasspcl_1_1_s_a_c_segmentation_html_a37153f3267f908eb64719749dd9a5428"><div class="ttname"><a href="classpcl_1_1_s_a_c_segmentation.html#a37153f3267f908eb64719749dd9a5428">pcl::SACSegmentation::getDistanceThreshold</a></div><div class="ttdeci">double getDistanceThreshold() const</div><div class="ttdoc">Get the distance to the model threshold.</div><div class="ttdef"><b>Definition:</b> sac_segmentation.h:143</div></div>
<div class="ttc" id="aclasspcl_1_1_s_a_c_segmentation_html_a41f0f4101d35fcffd17923204989fbf0"><div class="ttname"><a href="classpcl_1_1_s_a_c_segmentation.html#a41f0f4101d35fcffd17923204989fbf0">pcl::SACSegmentation::getProbability</a></div><div class="ttdeci">double getProbability() const</div><div class="ttdoc">Get the probability of choosing at least one sample free from outliers.</div><div class="ttdef"><b>Definition:</b> sac_segmentation.h:163</div></div>
<div class="ttc" id="aclasspcl_1_1_s_a_c_segmentation_html_a444d6de9dcabbe20ad1a152bea746dab"><div class="ttname"><a href="classpcl_1_1_s_a_c_segmentation.html#a444d6de9dcabbe20ad1a152bea746dab">pcl::SACSegmentation::model_type_</a></div><div class="ttdeci">int model_type_</div><div class="ttdoc">The type of model to use (user given parameter).</div><div class="ttdef"><b>Definition:</b> sac_segmentation.h:266</div></div>
<div class="ttc" id="aclasspcl_1_1_s_a_c_segmentation_html_a47c5241af3824ee197e3a9c1b89806c4"><div class="ttname"><a href="classpcl_1_1_s_a_c_segmentation.html#a47c5241af3824ee197e3a9c1b89806c4">pcl::SACSegmentation::setMaxIterations</a></div><div class="ttdeci">void setMaxIterations(int max_iterations)</div><div class="ttdoc">Set the maximum number of iterations before giving up.</div><div class="ttdef"><b>Definition:</b> sac_segmentation.h:149</div></div>
<div class="ttc" id="aclasspcl_1_1_s_a_c_segmentation_html_a514043477fc0efc79aaae0b595cc566c"><div class="ttname"><a href="classpcl_1_1_s_a_c_segmentation.html#a514043477fc0efc79aaae0b595cc566c">pcl::SACSegmentation::segment</a></div><div class="ttdeci">virtual void segment(PointIndices &amp;inliers, ModelCoefficients &amp;model_coefficients)</div><div class="ttdoc">Base method for segmentation of a model in a PointCloud given by &lt;setInputCloud (),...</div><div class="ttdef"><b>Definition:</b> sac_segmentation.hpp:75</div></div>
<div class="ttc" id="aclasspcl_1_1_s_a_c_segmentation_html_a5f2152f5157113171a2d0a077ad17731"><div class="ttname"><a href="classpcl_1_1_s_a_c_segmentation.html#a5f2152f5157113171a2d0a077ad17731">pcl::SACSegmentation::getOptimizeCoefficients</a></div><div class="ttdeci">bool getOptimizeCoefficients() const</div><div class="ttdoc">Get the coefficient refinement internal flag.</div><div class="ttdef"><b>Definition:</b> sac_segmentation.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_s_a_c_segmentation_html_a5fde989b5cec51bbec33cb0973186fe2"><div class="ttname"><a href="classpcl_1_1_s_a_c_segmentation.html#a5fde989b5cec51bbec33cb0973186fe2">pcl::SACSegmentation::getMethod</a></div><div class="ttdeci">SampleConsensusPtr getMethod() const</div><div class="ttdoc">Get a pointer to the SAC method used.</div><div class="ttdef"><b>Definition:</b> sac_segmentation.h:119</div></div>
<div class="ttc" id="aclasspcl_1_1_s_a_c_segmentation_html_a6c436f52078056b626aba0c36b819235"><div class="ttname"><a href="classpcl_1_1_s_a_c_segmentation.html#a6c436f52078056b626aba0c36b819235">pcl::SACSegmentation::setProbability</a></div><div class="ttdeci">void setProbability(double probability)</div><div class="ttdoc">Set the probability of choosing at least one sample free from outliers.</div><div class="ttdef"><b>Definition:</b> sac_segmentation.h:159</div></div>
<div class="ttc" id="aclasspcl_1_1_s_a_c_segmentation_html_a73f671838c3ec8c0f08a3c78a7cac80b"><div class="ttname"><a href="classpcl_1_1_s_a_c_segmentation.html#a73f671838c3ec8c0f08a3c78a7cac80b">pcl::SACSegmentation::initSACModel</a></div><div class="ttdeci">virtual bool initSACModel(const int model_type)</div><div class="ttdoc">Initialize the Sample Consensus model and set its parameters.</div><div class="ttdef"><b>Definition:</b> sac_segmentation.hpp:133</div></div>
<div class="ttc" id="aclasspcl_1_1_s_a_c_segmentation_html_a7a2dc31039a1717f83ca281f6970eb18"><div class="ttname"><a href="classpcl_1_1_s_a_c_segmentation.html#a7a2dc31039a1717f83ca281f6970eb18">pcl::SACSegmentation::setEpsAngle</a></div><div class="ttdeci">void setEpsAngle(double ea)</div><div class="ttdoc">Set the angle epsilon (delta) threshold.</div><div class="ttdef"><b>Definition:</b> sac_segmentation.h:233</div></div>
<div class="ttc" id="aclasspcl_1_1_s_a_c_segmentation_html_a7e4799ad1df36ce3b56a8c592a67bbf2"><div class="ttname"><a href="classpcl_1_1_s_a_c_segmentation.html#a7e4799ad1df36ce3b56a8c592a67bbf2">pcl::SACSegmentation::random_</a></div><div class="ttdeci">bool random_</div><div class="ttdoc">Set to true if we need a random seed.</div><div class="ttdef"><b>Definition:</b> sac_segmentation.h:299</div></div>
<div class="ttc" id="aclasspcl_1_1_s_a_c_segmentation_html_a7e9ad0f4cd31e45c2ff03da17d0c9bce"><div class="ttname"><a href="classpcl_1_1_s_a_c_segmentation.html#a7e9ad0f4cd31e45c2ff03da17d0c9bce">pcl::SACSegmentation::sac_</a></div><div class="ttdeci">SampleConsensusPtr sac_</div><div class="ttdoc">The sample consensus segmentation method.</div><div class="ttdef"><b>Definition:</b> sac_segmentation.h:263</div></div>
<div class="ttc" id="aclasspcl_1_1_s_a_c_segmentation_html_a873c817931f20ad93869526584c67e22"><div class="ttname"><a href="classpcl_1_1_s_a_c_segmentation.html#a873c817931f20ad93869526584c67e22">pcl::SACSegmentation::radius_min_</a></div><div class="ttdeci">double radius_min_</div><div class="ttdoc">The minimum and maximum radius limits for the model. Applicable to all models that estimate a radius.</div><div class="ttdef"><b>Definition:</b> sac_segmentation.h:278</div></div>
<div class="ttc" id="aclasspcl_1_1_s_a_c_segmentation_html_a87f8b0013e358f2bffa6c44149bc2e66"><div class="ttname"><a href="classpcl_1_1_s_a_c_segmentation.html#a87f8b0013e358f2bffa6c44149bc2e66">pcl::SACSegmentation::getClassName</a></div><div class="ttdeci">virtual std::string getClassName() const</div><div class="ttdoc">Class get name method.</div><div class="ttdef"><b>Definition:</b> sac_segmentation.h:303</div></div>
<div class="ttc" id="aclasspcl_1_1_s_a_c_segmentation_html_a8decd0cf3fa904cd8d2530879a7c726b"><div class="ttname"><a href="classpcl_1_1_s_a_c_segmentation.html#a8decd0cf3fa904cd8d2530879a7c726b">pcl::SACSegmentation::samples_radius_search_</a></div><div class="ttdeci">SearchPtr samples_radius_search_</div><div class="ttdoc">The search object for picking subsequent samples using radius search</div><div class="ttdef"><b>Definition:</b> sac_segmentation.h:284</div></div>
<div class="ttc" id="aclasspcl_1_1_s_a_c_segmentation_html_a93f67b554b55b3f10170065713263910"><div class="ttname"><a href="classpcl_1_1_s_a_c_segmentation.html#a93f67b554b55b3f10170065713263910">pcl::SACSegmentation::getEpsAngle</a></div><div class="ttdeci">double getEpsAngle() const</div><div class="ttdoc">Get the epsilon (delta) model angle threshold in radians.</div><div class="ttdef"><b>Definition:</b> sac_segmentation.h:237</div></div>
<div class="ttc" id="aclasspcl_1_1_s_a_c_segmentation_html_a968404675723ac44d5cb8fca689fd620"><div class="ttname"><a href="classpcl_1_1_s_a_c_segmentation.html#a968404675723ac44d5cb8fca689fd620">pcl::SACSegmentation::getSamplesMaxDist</a></div><div class="ttdeci">void getSamplesMaxDist(double &amp;radius)</div><div class="ttdoc">Get maximum distance allowed when drawing random samples</div><div class="ttdef"><b>Definition:</b> sac_segmentation.h:214</div></div>
<div class="ttc" id="aclasspcl_1_1_s_a_c_segmentation_html_aa6ca63b1a3068f27ad7c9aeae462dfe2"><div class="ttname"><a href="classpcl_1_1_s_a_c_segmentation.html#aa6ca63b1a3068f27ad7c9aeae462dfe2">pcl::SACSegmentation::getModelType</a></div><div class="ttdeci">int getModelType() const</div><div class="ttdoc">Get the type of SAC model used.</div><div class="ttdef"><b>Definition:</b> sac_segmentation.h:115</div></div>
<div class="ttc" id="aclasspcl_1_1_s_a_c_segmentation_html_aaf3488729fa23a602cc0ef2e9480c5f5"><div class="ttname"><a href="classpcl_1_1_s_a_c_segmentation.html#aaf3488729fa23a602cc0ef2e9480c5f5">pcl::SACSegmentation::setModelType</a></div><div class="ttdeci">void setModelType(int model)</div><div class="ttdoc">The type of model to use (user given parameter).</div><div class="ttdef"><b>Definition:</b> sac_segmentation.h:111</div></div>
<div class="ttc" id="aclasspcl_1_1_s_a_c_segmentation_html_ab303bdf338af51e757095fdcdd7dcf5a"><div class="ttname"><a href="classpcl_1_1_s_a_c_segmentation.html#ab303bdf338af51e757095fdcdd7dcf5a">pcl::SACSegmentation::setDistanceThreshold</a></div><div class="ttdeci">void setDistanceThreshold(double threshold)</div><div class="ttdoc">Distance to the model threshold (user given parameter).</div><div class="ttdef"><b>Definition:</b> sac_segmentation.h:139</div></div>
<div class="ttc" id="aclasspcl_1_1_s_a_c_segmentation_html_abc9924cedf7d0d013f860b8ad3054b69"><div class="ttname"><a href="classpcl_1_1_s_a_c_segmentation.html#abc9924cedf7d0d013f860b8ad3054b69">pcl::SACSegmentation::axis_</a></div><div class="ttdeci">Eigen::Vector3f axis_</div><div class="ttdoc">The axis along which we need to search for a model perpendicular to.</div><div class="ttdef"><b>Definition:</b> sac_segmentation.h:290</div></div>
<div class="ttc" id="aclasspcl_1_1_s_a_c_segmentation_html_abe8902ffbc5fd352e38c08f8b9b3601b"><div class="ttname"><a href="classpcl_1_1_s_a_c_segmentation.html#abe8902ffbc5fd352e38c08f8b9b3601b">pcl::SACSegmentation::optimize_coefficients_</a></div><div class="ttdeci">bool optimize_coefficients_</div><div class="ttdoc">Set to true if a coefficient refinement is required.</div><div class="ttdef"><b>Definition:</b> sac_segmentation.h:275</div></div>
<div class="ttc" id="aclasspcl_1_1_s_a_c_segmentation_html_ac40b9cd690894f581d507dabbeb89c3c"><div class="ttname"><a href="classpcl_1_1_s_a_c_segmentation.html#ac40b9cd690894f581d507dabbeb89c3c">pcl::SACSegmentation::eps_angle_</a></div><div class="ttdeci">double eps_angle_</div><div class="ttdoc">The maximum allowed difference between the model normal and the given axis.</div><div class="ttdef"><b>Definition:</b> sac_segmentation.h:287</div></div>
<div class="ttc" id="aclasspcl_1_1_s_a_c_segmentation_html_ac7b9564ceba35754837b4848cf448d78"><div class="ttname"><a href="classpcl_1_1_s_a_c_segmentation.html#ac7b9564ceba35754837b4848cf448d78">pcl::SACSegmentation::getModel</a></div><div class="ttdeci">SampleConsensusModelPtr getModel() const</div><div class="ttdoc">Get a pointer to the SAC model used.</div><div class="ttdef"><b>Definition:</b> sac_segmentation.h:123</div></div>
<div class="ttc" id="aclasspcl_1_1_s_a_c_segmentation_html_ac8a399afca15a3e2dcbf491a8de3e2f1"><div class="ttname"><a href="classpcl_1_1_s_a_c_segmentation.html#ac8a399afca15a3e2dcbf491a8de3e2f1">pcl::SACSegmentation::setSamplesMaxDist</a></div><div class="ttdeci">void setSamplesMaxDist(const double &amp;radius, SearchPtr search)</div><div class="ttdoc">Set the maximum distance allowed when drawing random samples</div><div class="ttdef"><b>Definition:</b> sac_segmentation.h:203</div></div>
<div class="ttc" id="aclasspcl_1_1_s_a_c_segmentation_html_acd7cb38442e52a3df81bc0fd28c07646"><div class="ttname"><a href="classpcl_1_1_s_a_c_segmentation.html#acd7cb38442e52a3df81bc0fd28c07646">pcl::SACSegmentation::setOptimizeCoefficients</a></div><div class="ttdeci">void setOptimizeCoefficients(bool optimize)</div><div class="ttdoc">Set to true if a coefficient refinement is required.</div><div class="ttdef"><b>Definition:</b> sac_segmentation.h:169</div></div>
<div class="ttc" id="aclasspcl_1_1_s_a_c_segmentation_html_acfefedfd77b047203d70b9a73c1cbec8"><div class="ttname"><a href="classpcl_1_1_s_a_c_segmentation.html#acfefedfd77b047203d70b9a73c1cbec8">pcl::SACSegmentation::samples_radius_</a></div><div class="ttdeci">double samples_radius_</div><div class="ttdoc">The maximum distance of subsequent samples from the first (radius search)</div><div class="ttdef"><b>Definition:</b> sac_segmentation.h:281</div></div>
<div class="ttc" id="aclasspcl_1_1_s_a_c_segmentation_html_adad96aff89dd14bd02ae5790b701e519"><div class="ttname"><a href="classpcl_1_1_s_a_c_segmentation.html#adad96aff89dd14bd02ae5790b701e519">pcl::SACSegmentation::getMaxIterations</a></div><div class="ttdeci">int getMaxIterations() const</div><div class="ttdoc">Get maximum number of iterations before giving up.</div><div class="ttdef"><b>Definition:</b> sac_segmentation.h:153</div></div>
<div class="ttc" id="aclasspcl_1_1_s_a_c_segmentation_html_addeabe3a311db251ef7d0a25879f1f4a"><div class="ttname"><a href="classpcl_1_1_s_a_c_segmentation.html#addeabe3a311db251ef7d0a25879f1f4a">pcl::SACSegmentation::SACSegmentation</a></div><div class="ttdeci">SACSegmentation(bool random=false)</div><div class="ttdoc">Empty constructor.</div><div class="ttdef"><b>Definition:</b> sac_segmentation.h:85</div></div>
<div class="ttc" id="aclasspcl_1_1_s_a_c_segmentation_html_ae02b4d2a62f5dc94deb71f3412b93916"><div class="ttname"><a href="classpcl_1_1_s_a_c_segmentation.html#ae02b4d2a62f5dc94deb71f3412b93916">pcl::SACSegmentation::getRadiusLimits</a></div><div class="ttdeci">void getRadiusLimits(double &amp;min_radius, double &amp;max_radius)</div><div class="ttdoc">Get the minimum and maximum allowable radius limits for the model as set by the user.</div><div class="ttdef"><b>Definition:</b> sac_segmentation.h:192</div></div>
<div class="ttc" id="aclasspcl_1_1_s_a_c_segmentation_html_af22b2d5e01d6c549b5d7c14caaa28539"><div class="ttname"><a href="classpcl_1_1_s_a_c_segmentation.html#af22b2d5e01d6c549b5d7c14caaa28539">pcl::SACSegmentation::method_type_</a></div><div class="ttdeci">int method_type_</div><div class="ttdoc">The type of sample consensus method to use (user given parameter).</div><div class="ttdef"><b>Definition:</b> sac_segmentation.h:269</div></div>
<div class="ttc" id="aclasspcl_1_1_s_a_c_segmentation_html_af262dd025eb187cfc6cb4e638562735a"><div class="ttname"><a href="classpcl_1_1_s_a_c_segmentation.html#af262dd025eb187cfc6cb4e638562735a">pcl::SACSegmentation::threshold_</a></div><div class="ttdeci">double threshold_</div><div class="ttdoc">Distance to the model threshold (user given parameter).</div><div class="ttdef"><b>Definition:</b> sac_segmentation.h:272</div></div>
<div class="ttc" id="aclasspcl_1_1_s_a_c_segmentation_html_af521155221e948e151b726cd76495fd0"><div class="ttname"><a href="classpcl_1_1_s_a_c_segmentation.html#af521155221e948e151b726cd76495fd0">pcl::SACSegmentation::getAxis</a></div><div class="ttdeci">Eigen::Vector3f getAxis() const</div><div class="ttdoc">Get the axis along which we need to search for a model perpendicular to.</div><div class="ttdef"><b>Definition:</b> sac_segmentation.h:227</div></div>
<div class="ttc" id="aclasspcl_1_1_s_a_c_segmentation_html_af99af32608e22a07bc0d8e0cf92d20fb"><div class="ttname"><a href="classpcl_1_1_s_a_c_segmentation.html#af99af32608e22a07bc0d8e0cf92d20fb">pcl::SACSegmentation::max_iterations_</a></div><div class="ttdeci">int max_iterations_</div><div class="ttdoc">Maximum number of iterations before giving up (user given parameter).</div><div class="ttdef"><b>Definition:</b> sac_segmentation.h:293</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_html"><div class="ttname"><a href="classpcl_1_1_sample_consensus.html">pcl::SampleConsensus</a></div><div class="ttdoc">SampleConsensus represents the base class. All sample consensus methods must inherit from this class.</div><div class="ttdef"><b>Definition:</b> sac.h:57</div></div>
<div class="ttc" id="astructpcl_1_1_model_coefficients_html"><div class="ttname"><a href="structpcl_1_1_model_coefficients.html">pcl::ModelCoefficients</a></div><div class="ttdef"><b>Definition:</b> ModelCoefficients.h:13</div></div>
<div class="ttc" id="astructpcl_1_1_point_indices_html"><div class="ttname"><a href="structpcl_1_1_point_indices.html">pcl::PointIndices</a></div><div class="ttdef"><b>Definition:</b> PointIndices.h:13</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
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